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A Study on Image-Based Mobile Robot Driving on Ship Deck (선박 갑판에서 이미지 기반 이동로봇 주행에 관한 연구)

  • Seon-Deok Kim;Kyung-Min Park;Seung-Yeol Wang
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.28 no.7
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    • pp.1216-1221
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    • 2022
  • Ships tend to be larger to increase the efficiency of cargo transportation. Larger ships lead to increased travel time for ship workers, increased work intensity, and reduced work efficiency. Problems such as increased work intensity are reducing the influx of young people into labor, along with the phenomenon of avoidance of high intensity labor by the younger generation. In addition, the rapid aging of the population and decrease in the young labor force aggravate the labor shortage problem in the maritime industry. To overcome this, the maritime industry has recently introduced technologies such as an intelligent production design platform and a smart production operation management system, and a smart autonomous logistics system in one of these technologies. The smart autonomous logistics system is a technology that delivers various goods using intelligent mobile robots, and enables the robot to drive itself by using sensors such as lidar and camera. Therefore, in this paper, it was checked whether the mobile robot could autonomously drive to the stop sign by detecting the passage way of the ship deck. The autonomous driving was performed by detecting the passage way of the ship deck through the camera mounted on the mobile robot based on the data learned through Nvidia's End-to-end learning. The mobile robot was stopped by checking the stop sign using SSD MobileNetV2. The experiment was repeated five times in which the mobile robot autonomously drives to the stop sign without deviation from the ship deck passage way at a distance of about 70m. As a result of the experiment, it was confirmed that the mobile robot was driven without deviation from passage way. If the smart autonomous logistics system to which this result is applied is used in the marine industry, it is thought that the stability, reduction of labor force, and work efficiency will be improved when workers work.

Thermal Dynamics of Core and Periphery Temperature during Treadmill Sub-maximal Exercise and Intermittent Regional Body Cooling (트래드밀에서의 최대하 부하 운동과 간헐적 부위별 인체 냉각 시 심부와 말초 부위의 체온 변화)

  • Lee, Joo-Young;Koscheyev, Victor S.;Kim, Jung-Hyun;Warpeha, Joe M.
    • Journal of Korean Living Environment System
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    • v.16 no.2
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    • pp.89-100
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    • 2009
  • The present study was designed to observe the thermal dynamics of core and skin temperatures during sub-maximal treadmill exercise; to investigate the effect of regional body cooling during short rest after the treadmill exercise on the thermal dynamics. Three conditions (No cooling, Head/Hand cooling, Leg cooling) were simulated in a climatic chamber at 24±1℃ and 50±5%RH. Subjects performed two bouts of treadmill exercise at a rate of 80%HRmax followed by rest. Body cooling with a hood, long gloves, and a blanket that circulated water set at 15℃ was assigned during two bouts of rest. The results showed that (1) rectal temperature (Tre) did not show significant difference between three conditions; (2) Skin temperatures had specific features, depending on body regions. In particular, the initial fall phenomena of skin temperatures at the onset of exercise were noteworthy in the chest, thigh, calf, and finger tip. Of these, the most significant initial fall was found in finger temperature (Tfing). (3) During the period of the initial fall in skin temperatures, Tre gradually increased. (4) The magnitude of the fall of Tfing at the onset of 2nd running was on average 4.8, 5.1 and 3.4℃ for Control, HH cooling, and Leg cooling, respectively (p<0.05). The initial drop of Tfing at the onset of running was maintained for an average of 8.1, 7.9 and 6.3 minutes for Control, HH cooling, and Leg cooling, with no significant differences. In conclusion, the initial fall phenomena at the onset of treadmill exercise reflected non-thermal factors, as opposed to internal thermal status. The magnitude of the initial fall in Tfing was affected by legs cooling. Therefore, the initial fall phenomenon should be considered when interpreting the thermal status of the shell during heavy works/exercises that assigned with intermittent regional body cooling.

K-DEV: A Borehole Deviation Logging Probe Applicable to Steel-cased Holes (철재 케이싱이 설치된 시추공에서도 적용가능한 공곡검층기 K-DEV)

  • Yoonho, Song;Yeonguk, Jo;Seungdo, Kim;Tae Jong, Lee;Myungsun, Kim;In-Hwa, Park;Heuisoon, Lee
    • Geophysics and Geophysical Exploration
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    • v.25 no.4
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    • pp.167-176
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    • 2022
  • We designed a borehole deviation survey tool applicable for steel-cased holes, K-DEV, and developed a prototype for a depth of 500 m aiming to development of own equipment required to secure deep subsurface characterization technologies. K-DEV is equipped with sensors that provide digital output with verified high performance; moreover, it is also compatible with logging winch systems used in Korea. The K-DEV prototype has a nonmagnetic stainless steel housing with an outer diameter of 48.3 mm, which has been tested in the laboratory for water resistance up to 20 MPa and for durability by running into a 1-km deep borehole. We confirmed the operational stability and data repeatability of the prototype by constantly logging up and down to the depth of 600 m. A high-precision micro-electro-mechanical system (MEMS) gyroscope was used for the K-DEV prototype as the gyro sensor, which is crucial for azimuth determination in cased holes. Additionally, we devised an accurate trajectory survey algorithm by employing Unscented Kalman filtering and data fusion for optimization. The borehole test with K-DEV and a commercial logging tool produced sufficiently similar results. Furthermore, the issue of error accumulation due to drift over time of the MEMS gyro was successfully overcome by compensating with stationary measurements for the same attitude at the wellhead before and after logging, as demonstrated by the nearly identical result to the open hole. We believe that the methodology of K-DEV development and operational stability, as well as the data reliability of the prototype, were confirmed through these test applications.

MDP(Markov Decision Process) Model for Prediction of Survivor Behavior based on Topographic Information (지형정보 기반 조난자 행동예측을 위한 마코프 의사결정과정 모형)

  • Jinho Son;Suhwan Kim
    • Journal of Intelligence and Information Systems
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    • v.29 no.2
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    • pp.101-114
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    • 2023
  • In the wartime, aircraft carrying out a mission to strike the enemy deep in the depth are exposed to the risk of being shoot down. As a key combat force in mordern warfare, it takes a lot of time, effot and national budget to train military flight personnel who operate high-tech weapon systems. Therefore, this study studied the path problem of predicting the route of emergency escape from enemy territory to the target point to avoid obstacles, and through this, the possibility of safe recovery of emergency escape military flight personnel was increased. based problem, transforming the problem into a TSP, VRP, and Dijkstra algorithm, and approaching it with an optimization technique. However, if this problem is approached in a network problem, it is difficult to reflect the dynamic factors and uncertainties of the battlefield environment that military flight personnel in distress will face. So, MDP suitable for modeling dynamic environments was applied and studied. In addition, GIS was used to obtain topographic information data, and in the process of designing the reward structure of MDP, topographic information was reflected in more detail so that the model could be more realistic than previous studies. In this study, value iteration algorithms and deterministic methods were used to derive a path that allows the military flight personnel in distress to move to the shortest distance while making the most of the topographical advantages. In addition, it was intended to add the reality of the model by adding actual topographic information and obstacles that the military flight personnel in distress can meet in the process of escape and escape. Through this, it was possible to predict through which route the military flight personnel would escape and escape in the actual situation. The model presented in this study can be applied to various operational situations through redesign of the reward structure. In actual situations, decision support based on scientific techniques that reflect various factors in predicting the escape route of the military flight personnel in distress and conducting combat search and rescue operations will be possible.

Quality Characteristics of Prepared Rehmannia Root with Four Domestic Cultivars (국내 육성 품종별 숙지황의 품질 특성)

  • Kim, Yae Jin;Han, Sin Hee;Ma, Kyungho;Hong, Chung-Oui;Han, Jong-Won;Lee, Sang Hoon;Chang, Jae Ki;Lee, Jun soo;Jeong, Heon-Sang
    • Korean Journal of Breeding Science
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    • v.51 no.4
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    • pp.386-394
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    • 2019
  • Rehmannia glutinosa, one of the major medicinal crops in Korea, can be classified into three types: fresh, dried and prepared Rehmannia root. In this study, the quality characteristics of prepared rehmannia root were evaluated using four different cultivars that are commonly used in the market. In making prepared rehmannia root, roots of Jihwang 1, Kokang, Togang, and Dagang were dried, soaked in rice wine, and steamed nine times. At each stage, physiochemical properties were analyzed, including yield, which is one of the most important industrial factors to consider. The yield was the highest in Togang at 23.61% and the lowest in Dagang at 21.16%. These yield values showed a highly negative correlation with the moisture content of roots. The fructose and glucose contents were increased during the 3rd, 4th and 5th steaming but then decreased. The sucrose, raffinose, and stachyose content gradually decreased during the first three steaming and were not detected during the 4th steaming. Additionally, the catalpol content was not detected after the 4th steaming. On the contrary, the 5-hydroxymethylfurfural content was not detected in the raw root but increased during the steaming. Jihwang1 and Togang exceeded the 0.1% Korean Pharmacopoeia standard after the 5th steaming, reaching it faster than did the other cultivars. Overall, Togang was the optimal cultivar considering the overall characteristics of its high yield and short steaming time. These results could provide useful information for the industrial use of prepared Rehmannia root based on the requirements and characteristics of each cultivar.

Conceptual Model of Establishing Lifestyle (Lifestyle-DEPER [Decision, Execution, Personal Factor, Environment, Resources]) and Lifestyle Intervention Strategies (라이프스타일 형성 모델(Lifestyle-DEPER [Decision, Execution, Personal Factor, Environment, Resources])과 건강을 위한 라이프스타일 중재 전략)

  • Park, Ji-Hyuk;Park, Hae Yean;Hong, Ickpyo;Han, Dae-Sung;Lim, Young-Myoung;Kim, Ah-Ram;Nam, Sanghun;Park, Kang-Hyun;Lim, Seungju;Bae, Suyeong;Jin, Yeonju
    • Therapeutic Science for Rehabilitation
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    • v.12 no.4
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    • pp.9-22
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    • 2023
  • The Lifestyle-DEPER (Decision, Execution, Personal Factors, Environment, Resources) model explains lifestyle formation. Lifestyles are shaped through the decision, execution, and habituation stages. Factors influencing the establishment of a lifestyle are categorized as environmental, resource, and personal. The environment encompasses our surroundings and social, physical, cultural, and virtual environments. Resources refer to what individuals possess, such as health, time, economic, and social resources. Personal factors include competencies, needs, and values. At the lifestyle establishment stage, each of these factors influences a different stage. These collective processes are referred to as events, encompassing both personal and social events. Health-related lifestyle factors include physical activity, nutrition, social relationships, and occupational participation. These are the goals of lifestyle intervention. The intervention strategy based on the Lifestyle-DEPER model, called KEEP (Knowledge, Evaluation, Experience, Plan), is a comprehensive approach to promoting a healthy lifestyle by considering lifestyle formation stages and their influencing factors. This study introduces the Lifestyle-DEPER model and presents a lifestyle intervention strategy (KEEP) to promote health. Further research is required to validate the practicality of the model after applying interventions based on the lifestyle construction model.

Four-year change and tracking of serum lipids in Korean adolescents (강화지역 청소년의 4년간 혈청 지질의 변화와 지속성)

  • Lee, Kang-Hee;Suh, Il;Jee, Sun-Ha;Nam, Chung-Mo;Kim, Sung-Soon;Shim, Won-Heum;Ha, Jong-Won;Kim, Suk-Il;Kang, Hyung-Gon
    • Journal of Preventive Medicine and Public Health
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    • v.30 no.1 s.56
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    • pp.45-59
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    • 1997
  • It has been known that there is a tracking phenomenon in the level of serum lipids. However, no study has been performed to examine the change and tracking of serum lipids in Korean adolescents. The purpose of this study is to examine the changes of serum lipids in Korean adolescents from 12 to 16 years of age, and to examine whether or not there is a tracking phenomenon in serum lipids level during the period. In 1992 serum lipids(total cholesterol(TC), triglyceride(TG), LDL cholesterol(LDL-C), HDL cholesterol(HDL-C)) were measured in 318 males, 365 females who were 12 years of age in Kangwha county, Korea. These participants have been followed up to 1996 and serum lipids level were examined in 1994 and 1996. Among the participants 162 males and 147 females completed all three examinations in fasting state. To examine the effect of eliminating adolescents with incomplete data, we compared serum lipids, blood pressure and anthropometric measures at baseline between adolescents with complete follow-up and adolescents who were withdrawn. To examine the change of serum lipids we compared mean values of serum lipids according to age in males and females. Repeated analysis of variance was used to test the change according to age. We used three methods to examine the existence of tracking. First, we analyzed the trends in serum lipids over 4-year period within quartile groups formed on the basis of the first-year serum lipids level to see whether or not the relative ranking of the mean serum lipids among the quartile groups remained in the same group for 4-year period. Second, we quantified the degree of tracking by calculating Spearman's rank correlation coefficient between every tests. Third, the persistence extreme quartile method was used. This method divides the population into quartile groups according to the initial level of blood lipids and then calculates the percent of the subjects who stayed in the same group at follow-up measurement. The decreases in levels were noted during 4 years for TC, LDL-C, primarily for boys. The level of HDL-C decreased between baseline and first follow-up for both sexes. Tracking, as measured by both correlation coefficients and persistence extreme quartiles, was evident for all of the lipids. The correlation coefficients of TC between baseline and 4 years later in boys and girls were 0.55 and 0.68, respectively. And the corresponding values for HDL-C were 0.58 and 0.69. More than 50% of adolescents who belonged to the highest quartile group in TC, HDL-C and LDL-C at the baseline were remained at the same group at the examination performed 2 years later for both sexes. The probabilities of remaining at the same group were more than 35% when examined 4 years later. The tracking phenomenon of TG was less evident compared with the other lipids. Percents of girls who stayed at the same group 2 years later and 4 years later were 42.9% and 25.7%, respectively. It was evident that serum lipid levels tracked in Korean adolescents. Researches with longer follow-up would be needed in the future to investigate the long-term change of lipids from adolescents to adults.

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The Patterns of Change in Arterial Oxygen Saturation and Heart Rate and Their Related Factors during Voluntary Breath holding and Rebreathing (자발적 호흡정지 및 재개시 동맥혈 산소포화도와 심박수의 변동양상과 이에 영향을 미치는 인자)

  • Lim, Chae-Man;Kim, Woo-Sung;Choi, Kang-Hyun;Koh, Youn-Suck;Kim, Dong-Soon;Kim, Won-Dong
    • Tuberculosis and Respiratory Diseases
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    • v.41 no.4
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    • pp.379-388
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    • 1994
  • Background : In sleep apnea syndrome, arterial oxygen saturation($SaO_2$) decreases at a variable rate and to a variable degree for a given apneic period from patient to patient, and various kinds of cardiac arrythmia are known to occur. Factors supposed to affect arterial oxygen desaturation during apnea are duration of apnea, lung voulume at which apnea occurs, and oxygen consumption rate of the subject. The lung serves as preferential oxygen source during apnea, and there have been many reports related with the influence of lung volume on $SaO_2$ during apnea, but there are few, if any, studies about the influence of oxygen consumption rate of an individual on $SaO_2$ during breath holding or about the profile of arterial oxygen resaturation after breathing resumed. Methods : To investigate the changes of $SaO_2$ and heart rate(HR) during breath holding(BH) and rebreathing(RB) and to evaluate the physiologic factors responsible for the changes, lung volume measurements, and arterial blood gas analyses were performed in 17 healthy subjects. Nasal airflow by thermistor, $SaO_2$ by pulse oxymeter and ECG tracing were recorded on Polygraph(TA 4000, Gould, U.S.A.) during voluntary BH & RB at total lung capacity(TLC), at functional residual capacity(FRC) and at residual volume(RV), respectively, for the study subjects. Each subject's basal metabolic rate(BMR) was assumed on Harris-Benedict equation. Results: The time needed for $SaO_2$ to drop 2% from the basal level during breath holding(T2%) were $70.1{\pm}14.2$ sec(mean${\pm}$standard deviation) at TLC, $44.0{\pm}11.6$ sec at FRC, and $33.2{\pm}11.1$ sec at RV(TLC vs. FRC, p<0.05; FRC vs. RV, p<0.05). On rebreathing after $SaO_2$ decreased 2%, further decrement in $SaO_2$ was observed and it was significantly greater at RV($4.3{\pm}2.1%$) than at TLC($1.4{\pm}1.0%$)(p<0.05) or at FRC($1.9{\pm}1.4%$)(p<0.05). The time required for $SaO_2$ to return to the basal level after RB(Tr) at TLC was not significantly different from those at FRC or at RV. T2% had no significant correlation either with lung volumes or with BMR respectively. On the other hand, T2% had significant correlation with TLC/BMR(r=0.693, p<0.01) and FRC/BMR (r=0.615, p<0.025) but not with RV/BMR(r=0.227, p>0.05). The differences between maximal and minimal HR(${\Delta}HR$) during the BH-RB manuever were $27.5{\pm}9.2/min$ at TLC, $26.4{\pm}14.0/min$ at RV, and $19.1{\pm}6.0/min$ at FRC which was significantly smaller than those at TLC(p<0.05) or at RV(p<0.05). The mean difference of 5 p-p intervals before and after RB were $0.8{\pm}0.10$ sec and $0.72{\pm}0.09$ sec at TLC(p<0.001), $0.82{\pm}0.11$ sec and $0.73{\pm}0.09$ sec at FRC(p<0.025), and $0.77{\pm}0.09$ sec and $0.72{\pm}0.09$ sec at RV(p<0.05). Conclusion Healthy subjects showed arterial desaturation of various rates and extent during breath holding at different lung volumes. When breath held at lung volume greater than FRC, the rate of arterial desaturation significantly correlated with lung volume/basal metabolic rate, but when breath held at RV, the rate of arterial desaturation did not correlate linearly with RV/BMR. Sinus arrythmias occurred during breath holding and rebreathing manuever irrespective of the size of the lung volume at which breath holding started, and the amount of change was smallest when breath held at FRC and the change in vagal tone induced by alteration in respiratory movement might be the major responsible factor for the sinus arrythmia.

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Studies on Dry Matter Yields , Chemical Composition and Net Energy Accumulation in Three Leading Temperate Grass Species I. Influence of meteorolgical factors on the dry matter productivity and net energy value under different cutting management (주요 북방형목초의 건물수량 , 화학성분 및 Net Energy 축적에 관한 연구 I. 기상환경 및 예취관리에 따른 건물 및 에너지 생산성 변화)

  • F. Muhlschlegel;G. Voigtlander
    • Journal of The Korean Society of Grassland and Forage Science
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    • v.6 no.2
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    • pp.103-110
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    • 1986
  • The experiments were carried out to study the influence of meteorological factors and cutting management on dry matter accumulation and net energy value in orchardgrass (Dactlylis glomerata L.) cv. Potomac and Baraula, perennial ryegrass (Lolium perenne L.) cv. Reveille and Semperweide and meadow fescue (Festuca pratensis Huds.) cv. Cosmos 11 and N.F.G.. The field trials were designed as a split plot design with three cutting regimes of 6-7 cuts at grazing stage, 4-5 cuts at silage stage and 3 cuts at hat stage in Korea and West Germany from 1975 to 1979. The results obtained are summarized as follows: 1. Productivity of orchardgrass, perennial ryegrass and meadow fescue were mainly affected by cutting systems and meteorological factors, especially air temperature, rainfalls, solar radiation and their interactions. In West Germany, cutting frequency was to be found asan most important factor influenced to dry matter yield and net energy value. 2. Orchardgrass, taken as average of all experimental sites in Korea, produced high yield of 875 kg/10 a in dry matter, which was as much as 32% and 27% higher than those of perennial ryegrass and meadow fescue, respectively. The annual dry matter yields of orchardgrass from 1976 to 1977 were shown a little variation. Dry matter yields in Freising and Braunschweig in West Germany were increased in all grass species continuously. 3. Orchardgrass, perennial ryegrass and meadow fescue showed different response to cutting frequency. The highest dry matter yields were found under 3 cuts at hay stage for orchardgrass and 4-5 cuts at silage stage for perennial ryegrass and meadow fescue. In West Germany, dry matter yields, as average of all grass species under different cutting systems, were 1326 kg, 1175 kg and 1098 kg/10a for 3 cuts, 4-5 cuts and 6-7 cuts, respectively. 4. Chemical composition and net energy concentration of temperate grasses were influenced by cutting managements. The highest yields of digestible crude protein were obtained under 6-7 cuts at grazing stage both in Korea and West Germany. In net energy yields, 3 cutting system produced the highest yield with 694 (orchardgrass), 665 (perennial ryegrass) an 623 kStE/10 a (meadow fescue). However, frequent cutting at grazing and silage stage produced higher yields than 3 cuts at hay stage in Cheju, Suweon and Taekwalyong.

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A Clinical Study of Tsutsugamushi Fever in Children during 1997~2000 in the Western Kyungnam Province (최근 4년간 서부 경남지역의 소아에서 발생한 쯔쯔가무시열의 임상적 고찰)

  • Ju, Hye Young;Lee, Jun Su;Kim, Jeong Hee;Yoo, Hwang Jae;Kim, Chun Soo
    • Pediatric Infection and Vaccine
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    • v.8 no.2
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    • pp.213-221
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    • 2001
  • Propose : Tsutsugamushi fever is a acute febrile disease, which is caused by O. tsutsugamushi. Recently, this disease is increasingly reported in children. This study was undertaken to investigate clinical features of tsutsugamushi fever in children. Methods : This study involved 17 children with tsutsugamushi fever who were admitted to Masan Samsung hospital between September 1997 and December 2000. We investigated the age, sex ratio, clinical manifestations, laboratory findings, response of therapy and prognosis. Results : The age of patients was $6.9{\pm}3.6$ years, ranging from 6 months to 12 years and male predilection(58.8%) was noted and all cases of patients occured in October or November. The most common symptoms were fever in all cases and headache in 8(47.1%). The most common signs were skin rash in all cases, eschar in 14(82.4%) and lymphadenopathy 8(47.1%). Locations of the eschars were back and inguinal area in each 3 cases, neck and chest in each 2, popliteal area in 2, scalp and thigh in each 1. Laboratory findings included anemia in 1 case, leukopenia and thrombocytopenia in each 5, hematuria and proteinuria in each 1, ESR elevation in 2 and positive CRP in 12, AST elevation in 9 and ALT elevation in 7. Serologic diagnosis was made by passive hemagglutination assay(PHA) in 8 cases(47%) on admission, 4 cases in initial negative group were performed follow-up test at 2nd or 3rd weeks of illness and then all cases of 4 were converted to positive reaction. Clinical improvement was noticed in all cases after treatment to chloramhenicol or doxycycline. Mean duration for defervescence after treatment was $1.4{\pm}0.8$ days. Complications were interstitial pneumonia in 1 case and aseptic meningitis in 3, but all cases of patients were recovered without sequelae or recurrence. Conclusions : Tsutsugamushi fever in children was similiar to adult in the clinical features except male predilection. Early diagnosis and empirical treatment based on clinical manifestations such as fever, skin rash, eschar, lymphadenopathy is important and serologic diagnosis need to perform follow-up test at 2nd or 3rd weeks of illness.

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